The fractional-nonlinear robotic manipulator: Modeling and dynamic simulations

In this paper, we applied the Riemann-Liouville approach and the fractional Euler-Lagrange equations in order to obtain the fractional-order nonlinear dynamics equations of a two link robotic manipulator. The aformentioned equations have been simulated for several cases involving: integer and non-integer order analysis, with and without external forcing acting and some different initial conditions. The fractional nonlinear governing equations of motion are coupled and the time evolution of the angular positions and the phase diagrams have been plotted to visualize the effect of fractional order approach. The new contribution of this work arises from the fact that the dynamics equations of a two link robotic manipulator have been modeled with the fractional Euler-Lagrange dynamics approach. The results reveal that the fractional-nonlinear robotic manipulator can exhibit different and curious behavior from those obtained with the standard dynamical system and can be useful for a better understanding and control of such nonlinear systems. © 2012 American Institute of Physics.

Fractional Extensions of Jacobi Polynomials and Gauss Hypergeometric Function

2000 Mathematics Subject Classification: 26A33, 33C45

Well-Posedness of the Cauchy Problem for Inhomogeneous Time-Fractional Pseudo-Differential Equations

Mathematics Subject Classification: 26A33, 45K05, 35A05, 35S10, 35S15, 33E12

A Fractional LC − RC Circuit

Mathematics Subject Classification: 26A33, 30B10, 33B15, 44A10, 47N70, 94C05

Monte Carlo Random Walk Simulations Based on Distributed Order Differential Equations with Applications to Cell Biology

Mathematics Subject Classification: 65C05, 60G50, 39A10, 92C37

Existence and Asymptotic Stability of Solutions of a Perturbed Quadratic Fractional Integral Equation

Mathematics Subject Classification: 45G10, 45M99, 47H09

On a Differential Equation with Left and Right Fractional Derivatives

Mathematics Subject Classification: 26A33; 70H03, 70H25, 70S05; 49S05

Caputo-Type Modification of the Erdélyi-Kober Fractional Derivative

2000 Math. Subject Classification: 26A33; 33E12, 33E30, 44A15, 45J05

Time-Fractional Derivatives in Relaxation Processes: A Tutorial Survey

2000 Mathematics Subject Classification: 26A33, 33E12, 33C60, 44A10, 45K05, 74D05,

Numerical Solution of Fractional Diffusion-Wave Equation with two Space Variables by Matrix Method

Mathematics Subject Classi¯cation 2010: 26A33, 65D25, 65M06, 65Z05.

Fractional Fokker-Planck-Kolmogorov type Equations and their Associated Stochastic Differential Equations

MSC 2010: 26A33, 35R11, 35R60, 35Q84, 60H10 Dedicated to 80-th anniversary of Professor Rudolf Gorenflo

Generalized Fractional Calculus, Special Functions and Integral Transforms: What is the Relation?

Виржиния С. Кирякова - В този обзор илюстрираме накратко наши приноси към обобщенията на дробното смятане (анализ) като теория на операторите за интегриране и диференциране от произволен (дробен) ред, на класическите специални функции и на интегралните трансформации от лапласов тип. Показано е, че тези три области на анализа са тясно свързани и взаимно индуцират своето възникване и по-нататъшно развитие. За конкретните твърдения, доказателства и примери, вж. Литературата.

Conflict-Controlled Processes Involving Fractional Differential Equations with Impulses

MSC 2010: 34A08, 34A37, 49N70

Calculus of Variations with Classical and Fractional Derivatives

MSC 2010: 49K05, 26A33

Eigenfunctions and fundamental solutions of the fractional Laplace and Dirac operators: the Riemann-Liouville case

In this paper we study eigenfunctions and fundamental solutions for the three parameter fractional Laplace operator $\Delta_+^{(\alpha,\beta,\gamma)}:= D_{x_0^+}^{1+\alpha} +D_{y_0^+}^{1+\beta} +D_{z_0^+}^{1+\gamma},$ where $(\alpha, \beta, \gamma) \in \,]0,1]^3$, and the fractional derivatives $D_{x_0^+}^{1+\alpha}$, $D_{y_0^+}^{1+\beta}$, $D_{z_0^+}^{1+\gamma}$ are in the Riemann-Liouville sense. Applying operational techniques via two-dimensional Laplace transform we describe a complete family of eigenfunctions and fundamental solutions of the operator $\Delta_+^{(\alpha,\beta,\gamma)}$ in classes of functions admitting a summable fractional derivative. Making use of the Mittag-Leffler function, a symbolic operational form of the solutions is presented. From the obtained family of fundamental solutions we deduce a family of fundamental solutions of the fractional Dirac operator, which factorizes the fractional Laplace operator. We apply also the method of separation of variables to obtain eigenfunctions and fundamental solutions.